DocumentCode :
3248258
Title :
Tendon sheath analysis for estimation of distal end force and elongation
Author :
Chiang, Low Soon ; Jay, Phee Soo ; Valdastri, Pietro ; Menciassi, Arianna ; Dario, Paolo
Author_Institution :
Robot. Res. Center, Nanyang Technol. Univ., Singapore, Singapore
fYear :
2009
fDate :
14-17 July 2009
Firstpage :
332
Lastpage :
337
Abstract :
Tendon sheath actuation can be found in many applications, particularly in robotic hand and surgical robots. Due to friction between the tendon and sheath, many undesirable characteristic such as backlash, hysteresis and non-linearity are present. It is desirable to know the end effector force and elongation of the tendon to control the system effectively, but it is not always feasible to fix sensors at the end effector. A method to estimate the end effector parameters using only a force and position sensor at the proximal site is given. An analytical study is presented and experiments are reported to support the result, showing a max full scale error of approximately 7%. This result is achieved if the shape of the sheath remains the same and buckling is negligible. The results presented in this study could contribute towards haptic development in robotics surgery.
Keywords :
actuators; end effectors; distal end force; end effector; robotic hand; surgical robots; tendon sheath actuation; tendon sheath analysis; Control systems; End effectors; Force control; Force sensors; Friction; Hysteresis; Medical robotics; Robots; Sensor phenomena and characterization; Tendons; Tendon sheath; cable actuation; surgical robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-2852-6
Type :
conf
DOI :
10.1109/AIM.2009.5229991
Filename :
5229991
Link To Document :
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